Customized fastSLAM algorithm: analysis and assessment on real mobile platform

• Published in: Nonlinear dynamics Vol. 110; no. 1; pp. 669 - 691
• Main Authors: Maziarz, Bartosz, Domański, Paweł D.
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.09.2022; Springer Nature B.V
• Subjects: Algorithms; Automotive Engineering; Autonomous navigation; Classical Mechanics; Communication; Control; Decomposition; Dynamical Systems; Engineering; Kalman filters; Localization; Mechanical Engineering; Original Paper; Real time operation; Robots; Sensors; Simulation; Simultaneous localization and mapping; Unknown environments; Vibration; Split–merge algorithm; Real environment assessment; FastSLAM; Custom lidar; GPC; Localization; Extended Kalman filter; Particle filter

The task of simultaneous localization and mapping (SLAM) allows a mobile robot to localize itself in the unknown environment, while building the map of the surrounding landscape. It is frequently used for the navigation of autonomous mobile robots. Despite the fact that there are plenty available so...